# US 11,029,409 B2 · Sensor field of view mapping > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,029,409 B2 - Document ID: US11029409B2 - Status: Granted - Kind: B2 - Application number: 16/985,296 - Filed: 2020-08-05 - Published: 2020-11-19 - Granted: 2021-06-08 - Earliest claimed: 2018-09-19 - Assignees: Ford Global Technologies, LLC - Applicants: Ford Global Technologies, LLC - Inventors: Codrin Cionca; Mostafa Parchami; Zhen Zhao; Juan Enrique Castorena Martinez - Web page: https://patentgrep.com/patent/US11029409B2 ## CPC - G01S 17/89: for mapping or imaging - G01S 17/93: for anti-collision purposes - G01S 13/86: Combinations of radar systems with non-radar systems, e.g. sonar, direction finder - G01S 13/931: of land vehicles - G01S 15/86: Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection - G01S 15/87: Combinations of sonar systems - G01S 15/89: for mapping or imaging - G01S 15/93: for anti-collision purposes - G01S 17/08: for measuring distance only (indirect measurement G01S17/46; active triangulation systems G01S17/48) - G01S 17/86: Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders - G01S 17/87: Combinations of systems using electromagnetic waves other than radio waves - G01S 17/931: of land vehicles - G08G 1/0116: {from roadside infrastructure, e.g. beacons} - B64U 2101/00: UAVs specially adapted for particular uses or applications - G01S 17/42: Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S17/46) - G01S 2013/93275: {in the bumper area} - G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes} - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) - B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR ## Abstract A map of an area is generated from first sensor data of a first field of view including a blocked area and second sensor data of a second field of view having an unblocked view of the blocked area. ## Claims ### Claim 1 A method, comprising: generating, in a computer, a map of an area from first sensor data of a first field of view of a first sensor including a blocked area, and second sensor data of a second field of view of a second sensor having an unblocked view of the blocked area in the first field of view, wherein the second field of view is determined based on at least one of a position of the second sensor, a position of an obstacle, and a size of the obstacle; and providing the map to a vehicle for the vehicle to control vehicle operation based on the map. ### Claim 2 (depends on 1) The method of claim 1, further comprising moving the second sensor from a first position providing the first field of view to a second position providing the second field of view. ### Claim 3 (depends on 1) The method of claim 1, wherein the first sensor data and the second sensor data are respectively from a first sensor and second sensor. ### Claim 4 (depends on 3) The method of claim 3, wherein the first sensor is mounted to a stationary infrastructure node and the second sensor is included on a vehicle. ### Claim 5 (depends on 3) The method of claim 3, wherein the first sensor is mounted to a stationary infrastructure node and the second sensor is mounted to one of a movable platform attached to the infrastructure node or an unmanned aerial vehicle. ### Claim 6 (depends on 1) The method of claim 1, wherein identifying the blocked area includes determining a position and a size of the object. ### Claim 7 (depends on 1) The method of claim 1, further comprising generating the map based on third sensor data for a field of view of a second blocked area. ### Claim 8 (depends on 1) The method of claim 1, further comprising defining the blocked area based on lines of sight emanating from the first sensor. ### Claim 9 A system, comprising a computer including a processor and a memory, the memory storing instructions executable by the processor to: generate a map of an area from first sensor data of a first field of view of a first sensor including a blocked area, and second sensor data of a second field of view of a second sensor having an unblocked view of the blocked area in the first field of view, wherein the second field of view is determined based on at least one of a position of the second sensor, a position of an obstacle, and a size of the obstacle; and provide the map to a vehicle for the vehicle to control vehicle operation based on the map. ### Claim 10 (depends on 9) The system of claim 9, the instructions further comprising instructions to move the second sensor from a first position providing the first field of view to a second position providing the second field of view. ### Claim 11 (depends on 9) The system of claim 9, wherein the first sensor data and the second sensor data are respectively from a first sensor and second sensor. ### Claim 12 (depends on 11) The system of claim 11, wherein the first sensor is mounted to a stationary infrastructure node and the second sensor is included on a vehicle. ### Claim 13 (depends on 11) The system of claim 11, wherein the first sensor is mounted to a stationary infrastructure node and the second sensor is mounted to one of a movable platform attached to the infrastructure node or an unmanned aerial vehicle. ### Claim 14 (depends on 9) The system of claim 9, wherein identifying the blocked area includes determining a position and a size of the object. ### Claim 15 (depends on 9) The system of claim 9, the instructions further comprising instructions to generate the map based on third sensor data for a field of view of a second blocked area. ### Claim 16 (depends on 9) The system of claim 9, the instructions further comprising instructions to define the blocked area based on lines of sight emanating from the first sensor.